ROS kinetic 创建功能包

最新推荐文章于 2025-01-07 20:04:29 发布

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最新推荐文章于 2025-01-07 20:04:29 发布 · 871 阅读

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本文详细介绍了如何在ROS kinetic中创建、编译功能包。首先，通过`catkin_create_pkg`命令创建名为`learning_communication`的功能包，依赖于`std_msgs`, `rospy`和`roscpp`。接着，展示了`package.xml`的内容，说明了功能包的依赖关系。然后，使用`catkin_make`进行编译，并检查ROS相关的环境变量。最后，解释了ROS运行时如何查找功能包及其路径，并给出了`rospack find`命令的示例。" 105991823,9201691,jQuery元素创建与操作指南,"['jQuery', '前端开发', 'DOM操作']

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同一个工作空间下，不允许存在同名功能包；
不同工作空间下，允许存在同名的功能包。

创建功能包命令
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

操作方式
kinetic@vm:~/catkin_ws$ cd ~/catkin_ws/src
kinetic@vm:~/catkin_ws/src$ catkin_create_pkg learning_communication std_msgs rospy roscpp
Created file learning_communication/CMakeLists.txt
Created file learning_communication/package.xml
Created folder learning_communication/include/learning_communication
Created folder learning_communication/src
Successfully created files in /home/kinetic/catkin_ws/src/learning_communication. Please adjust the values in package.xml.

kinetic@vm:~/catkin_ws/src$ tree
.
├── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake<